Download 1.3 CANopen Master Library Characteristics

PISO-CAN Series
CANopen Master Library
User’s Manual
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PISO-CAN Series CANopen master library user manual (ver. 1.01, Feb/16/2009) ------1
Tables of Content
1
2
3
General Information................................................................................4
1.1 CANopen Introduction...................................................................4
1.2 CANopen Applications ..................................................................5
1.3 CANopen Master Library Characteristics ....................................6
1.4 Features..........................................................................................8
Software Installation...............................................................................9
2.1 Installation Driver Step by Step ..................................................10
Function Description............................................................................18
3.1 DLL Function Definition and Description ..................................18
3.2
3.3
3.4
Function Return Code .................................................................20
CANopen Master Library Application Flowchart.......................23
Communication Services Introduction ......................................27
3.5
Function Description ...................................................................32
3.5.1
CPM_GetVersion .............................................................32
3.5.2
CPM_ActiveBoard ...........................................................33
3.5.3
CPM_CloseBoard ............................................................34
3.5.4
CPM_InitPort....................................................................35
3.5.5
CPM_InitMaster ...............................................................36
3.5.6
CPM_ShutdownMaster....................................................38
3.5.7
CPM_AddNode ................................................................39
3.5.8
CPM_RemoveNode .........................................................40
3.5.9
CPM_NMTChangeState...................................................41
3.5.10 CPM_NMTGetState ..........................................................42
3.5.11
3.5.12
3.5.13
3.5.14
3.5.15
3.5.16
CPM_NMTGuarding.........................................................43
CPM_SDOReadData ........................................................45
CPM_SDOReadSegment.................................................47
CPM_SDOReadBlock ......................................................48
CPM_SDOWriteData ........................................................49
CPM_SDOWriteSegment.................................................51
3.5.17
3.5.18
3.5.19
3.5.20
3.5.21
3.5.22
3.5.23
CPM_SDOWriteBlock ......................................................53
CPM_SDOAbortTransmission ........................................55
CPM_InstallPDO ..............................................................56
CPM_MappingPDO..........................................................58
CPM_RemovePDO...........................................................60
CPM_WritePDO................................................................61
CPM_RemotePDO ...........................................................62
PISO-CAN Series CANopen master library user manual (ver. 1.01, Feb/16/2009) ------2
4
3.5.24 CPM_ResponsePDO .......................................................63
3.5.25 CPM_ ResPDOCount.......................................................64
3.5.26 CPM_SendSYNC..............................................................65
3.5.27 CPM_ReadEMCY .............................................................66
3.5.28 CPM_WriteDO ..................................................................67
3.5.29 CPM_WriteAO ..................................................................68
3.5.30 CPM_ReadDI ....................................................................69
3.5.31 CPM_ReadAI ....................................................................70
Demo Programs for Windows..............................................................71
4.1 Brief Introduction of the demo programs ..................................73
PISO-CAN Series CANopen master library user manual (ver. 1.01, Feb/16/2009) ------3
1 General Information
1.1 CANopen Introduction
The CAN (Controller Area Network) is a serial communication protocol,
which efficiently supports distributed real-time control with a very high level of
security. It is an especially suited for networking "intelligent" devices as well as
sensors and actuators within a system or sub-system. In CAN networks, there
is no addressing of subscribers or stations in the conventional sense, but
instead, prioritized messages are transmitted. CANopen is one kind of the
network protocols based on the CAN bus and it is applied in a low level
network that provides connections between simple industrial devices (sensors,
actuators) and higher-level devices (controllers), as shown in Figure 1.1.
Figure 1.1 Example of the CANopen network
CANopen was developed as a standardized embedded network with
highly flexible configuration capabilities. It provides standardized
communication objects for real-time data (Process Data Objects, PDO),
configuration data (Service Data Objects, SDO), network management data
(NMT message, and Error Control), and special functions (Time Stamp, Sync
message, and Emergency message). Nowadays, CANopen is used in many
various application fields, such as medical equipment, off-road vehicles,
maritime electronics, public transportation, building automation and so on.
PISO-CAN Series CANopen master library user manual (ver. 1.01, Feb/16/2009) ------4
1.2 CANopen Applications
CANopen is the standardized network application layer optimized for
embedded networks. Its specifications cover the standardized application layer,
frameworks for the various applications (e.g. general I/O, motion control
system, maritime electronics and so forth) as well as device, interface, and
application profiles.
The main CANopen protocol and products are generally applied in the
low-volume and mid-volume embedded systems. The following examples
show some parts of the CANopen application fields. (For more information,
please refer to the web site, http://www.can-cia.org):
z
Truck-based superstructure control systems
z
z
z
z
z
z
z
z
z
z
Off-highway and off-road vehicles
Passenger and cargo trains
Maritime electronics
Factory automation
Industrial machine control
Lifts and escalators
Building automation
Medical equipment and devices
Non-industrial control
Non-industrial equipment
PISO-CAN Series CANopen master library user manual (ver. 1.01, Feb/16/2009) ------5
1.3 CANopen Master Library Characteristics
ICP DAS CANopen Master DLL Library provides users to establish
CANopen communication network rapidly. It is special for ICPDAS
PISO-CAN200/400/200U/400U/200E and PCM-CAN200 PCI interface card.
Using the library, most of the CANopen communication protocols will be
handled by the library function automatically. Therefore, it can help users
reduce the complexity of developing a CANopen master interface, and let
users to ignore the CANopen protocol detail technology information. The
library mainly supports the predefined master-slave connection set, which
include some useful functions to control the CANopen slave device in the
CANopen network. The general application architecture is demonstrated as
the Figure 1.2.
Figure 1.2 Application architecture
PISO-CAN Series CANopen master library user manual (ver. 1.01, Feb/16/2009) ------6
The CANopen Master Library follows the CiA CANopen specification
DS-301 V4.01, and supports the several CANopen features. The CANopen
communication general concept is shown as Figure 1.3.
Figure 1.3 CANopen communication general concept
„
Node Manager (NMT Master)
- Provide function to change the slave device state
- Node Guarding Protocol for error control
- Support Emergency (EMCY) message
„
SDO Manager
- Expedited, segmented and block methods for SDO download and
upload
„
PDO Manager
- Support transmission type and event timer
„
SYNC Manager
- SYNC messages production
- SYNC cycles of 1ms resolution
„
EMCY Manager
- EMCY messages consumer
For more information about the CANopen functions described above,
please refer to the demo programs and the description in the section 3.
PISO-CAN Series CANopen master library user manual (ver. 1.01, Feb/16/2009) ------7
1.4 Features
z
z
z
z
z
z
z
Driver supported for Windows 98/ME/NT4/2000/XP
Programmable transfer-rate 10K, 20K, 50K, 125K, 250K, 500K, 800K,
1M
Each Port support maximum nodes up to 127
Follow CiA DS-301 V4.01
Support upload and download SDO Segment and Block protocol
Extended mode of COB-ID is supported
Support Node Guarding protocol
PISO-CAN Series CANopen master library user manual (ver. 1.01, Feb/16/2009) ------8
2 Software Installation
The CANopen DLL driver is the CANopen specification function
collections for the PISO-CAN200/400 cards used in Windows
98/Me/NT/2000/XP systems. The application structure is presented in the
following figure. The users’ CANopen master application programs can be
developed by the following program development tools: Delphi, Borland C++
Builder, VB, and visual C++. When users use these program development
tools to develop the CANopen master interface, the PISOCANCPM.DLL must
be used. Because the PISOCANCPM.DLL calls the function of
PISO-CAN200/400 driver, the PISO-CAN200/400 driver must be installed
before using the PISOCANCPM.DLL driver. The driver architecture is shown in
the following Figure.
Figure 2.1 Driver concept of CANopen library
PISO-CAN Series CANopen master library user manual (ver. 1.01, Feb/16/2009) ------9
2.1 Installation Driver Step by Step
When users want to use the CANopen specification DLL driver, the
PISO-CAN series CAN card driver must be installed firstly. Afterwards, users
should install the CANopen Master Library. After finishing the installation
process, the demo programs may be a good reference for users to build their
CANopen master interface by using VC++, BCB and VB. The demo programs
also give a simple interface to show the basic functions of master/slave
connection and CANopen master program architectures. It is very helpful for
users to understand how to use these functions and how to develop their
CANopen master application. The following description displays the
step-by-step procedures about how to install the PISO-CAN driver and
PISOCANCPM.DLL driver.
Install and Remove the PISO-CAN series CAN card driver
Please refer to the manual PISO-CAN.pdf. It can be found in the web path
http://ftp.icpdas.com/pub/cd/fieldbus_cd/can/pci/piso-can200_400/manual/
and the CD path \CAN\PCI\PISO-CAN200_400\Manual.
Install the CANopen Master Library
Step 1: Insert the product CD into the CD-ROM and find the path
\CANopen\Master\PISO-CAN200_400. Then execute the
setup.exe to install the CANopen Master Library.
PISO-CAN Series CANopen master library user manual (ver. 1.01, Feb/16/2009) ------10
Step 2: Wait until the install wizard has prepared.
Step 3: Click “Next” to start the CANopen Master Library installation.
PISO-CAN Series CANopen master library user manual (ver. 1.01, Feb/16/2009) ------11
Step 4: Select the folder where the CANopen Master Library setup will
be installed and click “Next” button to continue.
Figure 2.5
Step 5: Click the button “Install” to continue.
PISO-CAN Series CANopen master library user manual (ver. 1.01, Feb/16/2009) ------12
Step 6: Wait for the CANopen Master Library installation.
Step 7: After finishing the process, click “Finish” button to complete the
installation.
PISO-CAN Series CANopen master library user manual (ver. 1.01, Feb/16/2009) ------13
When finishing the CANopen Master Library installation. The CANopen
folder will be found at the Start menu shown as below.
Remove the CANopen Master Library
Step 1: Click “Start” in the task bar. Select the Setting/Control Panel as
shown in the following figure.
PISO-CAN Series CANopen master library user manual (ver. 1.01, Feb/16/2009) ------14
Step 2: Click the “Add/Remove Programs” icon to open the dialog.
Step 3: Find out the CANopen Master Library, and click the button
“Change/Remove”.
PISO-CAN Series CANopen master library user manual (ver. 1.01, Feb/16/2009) ------15
Step 4: Choose “Remove” option and click the button “Next” to remove the
software.
Step 5: Click the button “Yes” to remove the software.
PISO-CAN Series CANopen master library user manual (ver. 1.01, Feb/16/2009) ------16
Step 6: Finally, click the button “Finish” to finish the uninstall process.
PISO-CAN Series CANopen master library user manual (ver. 1.01, Feb/16/2009) ------17
3 Function Description
3.1 DLL Function Definition and Description
All the functions provided by the PISOCANCPM.dll are listed in the
following table. The detail information for each function is presented in the
section 4.2. In order to make the descriptions more simply and clear, the
attributes for the both input and output parameter functions are given as [input]
and [output] respectively. They are shown in the table 3.1.
Keyword
Set parameter by user before Get the data from this parameter
calling this function?
after calling this function?
[ input ]
Yes
No
[ output ]
No
Yes
Table 3.1
Functions Table
No.
Function Name
Description
1
CPM_GetVersion
Get the version of the PISOCANCPM.dll
2
CPM_ActiveBoard
Activate the PISOCAN200/400 CAN card
3
CPM_CloseBoard
Stop and close the kernel driver
4
CPM_InitPort
Initialize port and return CAN channel Handle
5
CPM_InitMaster
Initialize CANopen master parameters
6
CPM_ShutdownMaster
Stop the CANopen master function
7
CPM_AddNode
Add one node into the CANopen network
8
CPM_RemoveNode
Remove one node from the CANopen network
9
CPM_NMTChangeState
Change the CANopen node state
PISO-CAN Series CANopen master library user manual (ver. 1.01, Feb/16/2009) ------18
10 CPM_NMTGetState
Get CANopen node state
11 CPM_NMTGuarding
Start to the node guarding function
12 CPM_SDOReadData
Read data by upload SDO protocol
13 CPM_SDOReadSegment
Read data by upload SDO segment data
14 CPM_SDOReadBlock
Read data by upload SDO block protocol
15 CPM_SDOWriteData
Write data by download SDO protocol
16 CPM_SDOWriteSegment
Write data by download SDO segment data
17 CPM_SDOWriteBlock
Write data by download SDO block protocol
18 CPM_SDOAbortTransmission Send SDO abort message
19 CPM_InstallPDO
Install and enable the specific PDO
20 CPM_MappingPDO
Setting the PDO mapping object
21 CPM_RemovePDO
Remove the PDO object
22 CPM_WritePDO
Use PDO to write data to the device
23 CPM_RemotePDO
Use PDO to get data from the remote device
24 CPM_ResponsePDO
Read the PDO data responded from slave
25 CPM_ResPDOCount
Get PDO message count
26 CPM_SendSYNC
Send SYNC message
27 CPM_ReadEMCY
Read EMCY message
28 CPM_WriteDO
Use SDO to output data to index 0x6200
29 CPM_WriteAO
Use SDO to output data to index 0x6411
30 CPM_ReadDI
Use SDO to input data from index 0x6000
31 CPM_ReadAI
Use SDO to input data from index 0x6401
Table 3.2 Description of functions
PISO-CAN Series CANopen master library user manual (ver. 1.01, Feb/16/2009) ------19
3.2 Function Return Code
The following table interprets all the return code returned by the CANopne
Master Library function.
Return
Code
Error ID
Comment
0
CPM_NoError
OK
1
CPM_DriverError
CAN card kernel driver can’t be opened
2
CPM_ActiveBoardError
This board can’t be activated.
3
CPM_BoardNumberError
The board number isn’t correct or exceeds
the maximum board number, 7.
4
CPM_PortNumberError
The port number isn’t correct exceeds the
maximum port number.
5
CPM_ResetError
CAN controller hardware reset error
6
CPM_SoftResetError
CAN controller software reset error
7
CPM_InitError
Initiate the CAN controller failure
8
CPM_ConfigError
Port has not been configured successfully.
9
CPM_SetACRError
Set the Acceptance Code Register error
10
CPM_SetAMRError
Set the Acceptance Mask Register error
11
CPM_SetBaudRateError
Set Baud Rate error
12
CPM_EnableRxIrqFailure
Enable CAN controller receive interrupt
failure
13
CPM_DisableRxIrqFailure
Disable CAN controller receive interrupt
failure
14
CPM_InstallIrqFailure
Install PCI board IRQ failure
15
CPM_RemoveIrqFailure
Removing PCI board IRQ failure
16
CPM_TransmitBufferLocked CAN controller transmit buffer is locked
17
CPM_TransmitIncomplete
Previously transmission is not yet
completed
18
CPM_ReceiveBufferEmpty
CAN controller Rx FIFO is empty
19
CPM_DataOverrun
Data was lost because there was not
enough space in Rx FIFO
20
CPM_ReceiveError
Receive data is not completed
21
CPM_SoftBufferIsEmpty
Software buffer is empty
22
CPM_SoftBufferIsFull
Software buffer is full
PISO-CAN Series CANopen master library user manual (ver. 1.01, Feb/16/2009) ------20
50
CPM_MasterInitErr
CANopen Master initializes error
52
CPM_NodeAddErr
Add a CANopen node failure
53
CPM_NodeRemoveErr
Remove a CANopen node failure
54
CPM_NodeIDDoesExist
The node id has existed
55
CPM_NodeIDDoesNotExist The node id is not existed
56
CPM_NodeIdOverRange
The id is out of the range (1 ~ 127)
60
CPM_CreateThreadErr
Create receive or transmit data thread error
61
CPM_ResumeThreadErr
Receive or transmit data thread resumed
error
62
CPM_SuspendThreadErr
Receive or transmit data thread suspended
error
63
CPM_TerminateThreadErr
Receive or transmit data thread terminated
error
64
CPM_GetExitCodeThreadErr Gat exit code of thread error
65
CPM_CloseHandleErr
Close receive or transmit data thread error
70
CPM_CobIdDoesExist
The COB-ID has been used
71
CPM_CobIdDoesNotExist
The COB-ID has not been used
72
CPM_EMCYFIFOisEmpty
No EMCY message in the buffer
73
CPM_SlaveStateErr
CANopen node state error
74
CPM_AllPDOareUsing
All PDO objects are occupied
75
CPM_PDOInstallErr
The COB-ID can’t be install to PDO
76
CPM_PDOSetError
PDO mapping parameters error
77
CPM_PDORemoveErr
The PDO can’t be disable
78
CPM_PDODoesNotExist
The PDO is not exist
79
CPM_CobIdNotRxPDO
The COB-ID is not Rx PDO
80
CPM_CobIdNotTxPDO
The COB-ID is not Tx PDO
81
CPM_MappingEnableErr
Set PDO mapping object failure
82
CPM_NoResponse
PDO message don’t respond
90
CPM_ReadSegment
Upload SDO segment protocol need to be
used
91
CPM_WriteSegment
Download SDO segment protocol need to
be used
92
CPM_ReadBlock
Upload SDO block protocol need to be used
93
CPM_WriteBlock
Download SDO block protocol need to be
used
95
CPM_DataReSend
Segment or block transmit failure, users
need to resend the data
PISO-CAN Series CANopen master library user manual (ver. 1.01, Feb/16/2009) ------21
96
CPM_ReadDataError
Upload Segment or block transmit error or
slave didn’t support block protocol
97
CPM_WriteDataError
Download Segment or block transmit error
or slave didn’t support block protocol
98
CPM_DataSizeRangeErr
Data length can’t be 0
100
CPM_Timeout
Response message is timeout
Table 3.3 Description of return code
PISO-CAN Series CANopen master library user manual (ver. 1.01, Feb/16/2009) ------22
3.3 CANopen Master Library Application Flowchart
In this section, it describes that the operation procedure about how to use
the CANopen Master Library to build users application. This information is
helpful for users to apply the CANopen Master Library easily. Besides, the
CANopen operation principles must be obeyed when build a CANopen master
application. For example, if the CANopen node is in the pre-operational status,
the PDO communication object is not allowed to use. For more detail
information, please refer to the demo programs in section 4.
Main Programming Sequence
When users program apply the CANopen Master Library functions, the
function CPM_ActiveBoard must be call first. The function CPM_InitPort is
used to initialize the CAN controller. It can be called after calling the function
CPM_ActiveBoard.
After initializing the CAN interface successfully, the function
CPM_InitMaster will be used to arrange the resources, create threads, and
configure CAN controller. Then, users need to use the function CPM_AddNode
to install at least one CANopen device into the node list.
If the function CPM_InitMaster and CPM_AddNode has been executed,
the communication services (NMT, SYNC, EMCY, SDO, and PDO services)
can be used at any time before calling the function CPM_ShutdownMaster
because the function CPM_ShutdownMaster will stop all process created by
the function CPM_InitMaster. Finally, when users want to finish their program,
don’t forget to execute the function CPM_CloseBoard to release all resources
and stop using the CAN card.
PISO-CAN Series CANopen master library user manual (ver. 1.01, Feb/16/2009) ------23
Figure 3.1 Main programming sequences
PISO-CAN Series CANopen master library user manual (ver. 1.01, Feb/16/2009) ------24
CAN Interface Initialization and Resource Release
Before using the CANopen master Initialization functionality, users need to
call the functions CPM_ActiveBoard and CPM_InitPort firstly. If the CANopen
master application is closed, the function CPM_CloseBoard is needed to
release the system resources.
Figure 3.2 Initialize interface flow chart
Initialization and Shutdown of the CANopen Master
After initializing the CAN interface, the CANopen master functionalities are
started up by using the function CPM_InitMaster. Calling the function
CPM_InitMaster will configure the CAN controller of CAN card and initialize all
of the components that will be used in the CANopen master functionalities.
users need to use the function CPM_AddNode to install at least one CANopen
PISO-CAN Series CANopen master library user manual (ver. 1.01, Feb/16/2009) ------25
device into the node list. When users use the function CPM_ShutdownMaster,
all CANopen nodes in the node list will be removed. Then, the CANopen
master based on the PISO-CAN200/400 CAN card will stop to work.
Figure 3.3 CANopen Master Initialization/shutdown interface flowchart
PISO-CAN Series CANopen master library user manual (ver. 1.01, Feb/16/2009) ------26
3.4 Communication Services Introduction
NMT Services
The CANopen Master Library provides several NMT services functions,
such
as
the
functions
CPM_AddNode,
CPM_RemoveNode,
CPM_NMTChangeState, CPM_NMTGetState, and CPM_NMTGuarding. As
the prerequisite for the master, the slave nodes have to be registered by
CPM_AddNode function with providing its Node-ID. The registered slave
nodes can be individually removed from the node list by the function
CPM_RemoveNode. Through NMT services, the NMT Master controls the
state of the slave. Table 4.1 is the command value and corresponding NMT
command for the input parameters of the function CPM_NMTChangeState.
When using the function CPM_NMTGetState, the slave status value and their
descriptions are shown in the table 4.2. The Node Guarding protocol is
implemented via the function CPM_NMTGuarding. If the slave nodes are in the
node list, users can change the node guarding parameters defined in the slave
nodes by calling the function CPM_NMTGuarding.
Table 3.4 NMT Command Specifier
Table 3.5 The State of The Slave
PISO-CAN Series CANopen master library user manual (ver. 1.01, Feb/16/2009) ------27
SDO Services
Initiate SDO download or Initiate SDO upload protocol is used when SDO
data length ≦ 4 bytes. These two protocols are handled by the functions
CPM_SDOReadData and CPM_SDOWriteData with parameter bBlock = 0. If
the SDO message data length ＞ 4 bytes, using these two functions
described above will return the value CPM_ReadSegment or
CPM_WriteSegment. In this case, users must use the SDO segment protocol
to finish the SDO transmission. The SDO segment protocol can be handled by
using the functions CPM_SDOReadSegment and CPM_SDOWriteSegment. If
users call the function CPM_SDOReadData or CPM_SDOWriteData with
parameter bBlock = 1, these two functions will return the values
CPM_ReadBlock
or
CPM_WriteBlock.
Then,
the
function
CPM_SDOReadBlock or CPM_SDOWriteBlock must be used to handle the
SDO block protocol whether the SDO data length exceeds 4 bytes or not.
CPM_SDOAbortTransmission function can abort a pending SDO transfer
at any time. Applying the abort service will have no confirmation from the salve
device.
Figure 3.4 SDO upload flow chart
PISO-CAN Series CANopen master library user manual (ver. 1.01, Feb/16/2009) ------28
Figure 3.5 SDO download flow chart
PDO Services
The function CPM_MappingPDO is used for setting TPDOs or RPDOs
mapping object. Each PDO object supports 0~8 application objects. These
application objects defined in the CANopen specification DS401 are mapped
to the DI/DO/AI/AO channels. After calling the function CPM_MappingPDO,
users need to implement the function CPM_InstallPDO to activate the PDO
communication object. If the PDO communication object is not needed no
more, use the function CPM_RemovePDO to remove it.
The PDOs data are written to the PDO buffer by using the function
CPM_WritePDO. This function can write all PDO 8-byte data or write some
part of PDO 8-byte data. If users write some part of the PDO data, the other
part of the PDO data will not be changed. When some device response the
PDO data, users can use the function CPM_ResponsePDO to read these data
stored in the PDO buffer.
In CANopen specification, users can get the TxPDOs data by applying the
remote transmit request CAN frame. In this case, the function
CPM_RemotePDO is needed.
PISO-CAN Series CANopen master library user manual (ver. 1.01, Feb/16/2009) ------29
Figure 3.6 PDO flow chart
PISO-CAN Series CANopen master library user manual (ver. 1.01, Feb/16/2009) ------30
SYNC Services
Calling the function CPM_SendSYNC starts the SYNC object
transmission. The parameter dwSyncCycle of the function CPM_SendSYNC
can adjust the cycle period of SYNC COB-ID sent by master. This parameter
range is from 0 to 4294967295ms. If the parameter dwSyncCycle is set to 0,
the SYNC object transmission will be stopped.
EMCY Services
Emergency objects are triggered by the occurrence of a device internal
error situation. When the master receives the emergency messages (EMCY
messages) from the slaves, the EMCY message will be saved in the software
buffer. Then, users need to call the function CPM_ReadEMCY to get the
EMCY messages from the software buffer.
PISO-CAN Series CANopen master library user manual (ver. 1.01, Feb/16/2009) ------31
3.5 Function Description
3.5.1 CPM_GetVersion
z
Description:
This function is used to obtain the version information of
PISOCANCPM.dll driver.
z
Syntax:
float CPM_GetVersion(void)
z
Parameter:
None
z
Return:
DLL library version information.
PISO-CAN Series CANopen master library user manual (ver. 1.01, Feb/16/2009) ------32
3.5.2 CPM_ActiveBoard
z
Description:
The function can activate the PISO-CAN 200/400. It must be called
once before using other functions of PISOCANCPM.dll.
z
Syntax:
WORD CPM_ActiveBoard(BYTE bBoardNo)
z
Parameter:
bBoardNo: [input] PISO-CAN200/400 board number (0~7)
z
Return:
CPM_NoError
CPM_DriverError
CPM_BoardNumberError
CPM_ActiveBoardError
CPM_InstallIrqFailure
PISO-CAN Series CANopen master library user manual (ver. 1.01, Feb/16/2009) ------33
3.5.3 CPM_CloseBoard
z
Description:
The function can close the kernel driver and release the system
resource. It must be called once before exiting the users’ master
application program. Or, the system resources may be occupied, and the
next time to call the function CPM_ActiveBoard may fail.
z
Syntax:
WORD CPM_CloseBoard(BYTE bBoardNo)
z
Parameter:
bBoardNo: [input] PISO-CAN200/400 board number (0~7)
z
Return:
CPM_NoError
CPM_DriverError
CPM_BoardNumberError
CPM_ActiveBoardError
CPM_DisableRxIrqFailure
CPM_RemoveIrqFailure
PISO-CAN Series CANopen master library user manual (ver. 1.01, Feb/16/2009) ------34
3.5.4 CPM_InitPort
z
Description:
The function can initiate the CAN controller and return a handle value
for this CAN channel.
z
Syntax:
WORD CPM_InitPort(BYTE bBoardNo, BYTE bPort,
CANChannelStruct *Handle)
z
Parameter:
bBoardNo: [input] PISO-CAN200/400 board number (0~7)
bPort: [input] CAN port number (0~1 for PISO-CAN200 CAN card, 0~3
PISO-CAN400 CAN card)
*Handle: [output] The pointer of the structure CANChannelStruct. This
structure is defined as following
typedef struct
{
BYTE bBoardNo;
BYTE bPort;
} CANChannelStruct;
bBoardNo: Save the parameter bBoardNo of the function
CPM_InitPort to the struct CANChannelStruct.
bPort: Save the parameter bPort of the function CPM_InitPort
to the struct CANChannelStruct.
z
Return:
CPM_NoError
CPM_DriverError
CPM_BoardNumberError
CPM_PortNumberError
CPM_ActiveBoardError
CPM_InitError
PISO-CAN Series CANopen master library user manual (ver. 1.01, Feb/16/2009) ------35
3.5.5 CPM_InitMaster
z
Description:
This function must be applied when configuring the CAN controller
and initialize the master. After calling this function, the CAN receive
interrupt will be enable. Then, the CANopen master can start to control
the CANopen slave devices.
z
Syntax:
WORD CPM_InitMaster(CANChannelStruct *Handle,
CPMConfigStruct *CanConfig,
WORD wTimeOut)
z
Parameter:
*Handle: [input] CAN channel handle pointer returned from the function
CPM_InitPort.
WTimeOut: [input] SDO timeout value. It is calculated since master
sends a SDO message until slave responses the
SDO message.
*CanConfig: [input] The pointer of the structure CPMConfigStruct. This
structure is defined as following
typedef struct cpmconfig
{
BYTE AccCode[4];
BYTE AccMask[4];
BYTE BaudRate;
} CPMConfigStruct;
AccCode[4]: Acceptance code for CAN controller.
AccMask[4]: Acceptance mask for CAN controller.
PISO-CAN Series CANopen master library user manual (ver. 1.01, Feb/16/2009) ------36
BaudRate:
Parameter
Baud rate
Parameter
1
2
3
4
10Kbps 20Kbps 50Kbps 125Kbps
5
6
7
8
Baud rate 250Kbps 500Kbps 800Kbps 1Mbps
z
Return:
CPM_NoError
CPM_DriverError
CPM_BoardNumberError
CPM_PortNumberError
CPM_ActiveBoardError
CPM_InitError
CPM_SoftResetError
CPM_SetACRError
CPM_SetAMRError
CPM_SetBaudRateError
CPM_ConfigError
CPM_EnableRxIrqFailure
CPM_MasterInitErr
CPM_CreateThreadErr
CPM_ResumeThreadErr
PISO-CAN Series CANopen master library user manual (ver. 1.01, Feb/16/2009) ------37
3.5.6 CPM_ShutdownMaster
z
Description:
Execute the function CPM_ShutdownMaster to release the resource
used by the CANopen master program.
z
Syntax:
WORD CPM_ShutdownMaster (CANChannelStruct *Handle)
z
Parameter:
*Handle: [input] CAN channel handle pointer returned from the function
CPM_InitPort.
z
Return:
CPM_NoError
CPM_DriverError
CPM_ActiveBoardError
CPM_SuspendThreadErr
PISO-CAN Series CANopen master library user manual (ver. 1.01, Feb/16/2009) ------38
3.5.7 CPM_AddNode
z
Description:
The function CPM_AddNode can add a CANopen slave with Node ID,
bNodeID, into the master node list. The added node can be removed
from the master node list by the function CPM_RemoveNode. By the
way, all of the added nodes are removed automatically when the
function CPM_ShutdownMaster is used.
z
Syntax:
WORD CPM_AddNode(CANChannelStruct *Handle, BYTE bNodeID)
z
Parameter:
*Handle: [input] CAN channel handle pointer returned from the function
CPM_InitPort.
BNodeID: [input] Slave device Node-ID (1~127).
z
Return:
CPM_NoError
CPM_BoardNumberError
CPM_PortNumberError
CPM_ActiveBoardError
CPM_ConfigError
CPM_TransmitBufferLocked
CPM_TransmitIncomplete
CPM_MasterInitErr
CPM_NodeAddErr
CPM_NodeIDDoesExist
CPM_NodeIdOverRange
CPM_SlaveStateErr
CPM_Timeout
PISO-CAN Series CANopen master library user manual (ver. 1.01, Feb/16/2009) ------39
3.5.8 CPM_RemoveNode
z
Description:
The function CPM_RemoveNode removes the slave with the Node-ID
bNodeID from node list of the node manager. It requires a valid Node-ID,
which has installed by the function CPM_AddNode before.
z
Syntax:
WORD CPM_RemoveNode(CANChannelStruct *Handle,
BYTE bNodeID)
z
Parameter:
*Handle: [input] CAN channel handle pointer returned from the function
CPM_InitPort.
BNodeID: [input] Slave device Node-ID (1~127).
z
Return:
CPM_NoError
CPM_ActiveBoardError
CPM_MasterInitErr
CPM_NodeRemoveErr
CPM_NodeIDDoesNotExist
CPM_NodeIdOverRange
PISO-CAN Series CANopen master library user manual (ver. 1.01, Feb/16/2009) ------40
3.5.9 CPM_NMTChangeState
z
Description:
The function CMP_NMTChangeState is used to change the state of a
slave. If the slave state is changed to reset node state by using this
function, this slave node-id will be removed from node list.
z
Syntax:
WORD CPM_NMTChangeState(CANChannelStruct *Handle,
BYTE bNodeID, BYTE bState)
z
Parameter:
*Handle: [input] CAN channel handle pointer returned from the function
CPM_InitPort.
BNodeID: [input] Slave device Node-ID (1~127). Set this parameter to 0
to indicate all slave devices.
BState: [input] NMT command specifier.
1:
start
2:
stop
128: enter PRE-OPERATIONAL
129: Reset_Node
130: Reset_Communication
z
Return:
CPM_NoError
CPM_BoardNumberError
CPM_PortNumberError
CPM_ActiveBoardError
CAN_ConfigError
CAN_TransmitBufferLocked
CAN_TransmitIncomplete
CPM_MasterInitErr
CPM_NodeIDDoesNotExist
CPM_NodeIdOverRange
PISO-CAN Series CANopen master library user manual (ver. 1.01, Feb/16/2009) ------41
3.5.10 CPM_NMTGetState
z
Description:
The function CMP_NMTGetState can get the NMT state from slave.
z
Syntax:
WORD CPM_NMTGetState(CANChannelStruct *Handle,
BYTE bNodeID, BYTE *bState)
z
Parameter:
*Handle: [input] CAN channel handle pointer returned from the function
CPM_InitPort.
BNodeID: [input] Slave device Node-ID (1~127).
*bState: [output] The state of the slave.
4/132:
STOPPED
5/133:
OPERATIONAL
127/255: PRE-OPERATIONAL
z
Return:
CPM_NoError
CPM_BoardNumberError
CPM_PortNumberError
CPM_ActiveBoardError
CAN_ConfigError
CAN_TransmitBufferLocked
CAN_TransmitIncomplete
CPM_MasterInitErr
CPM_NodeIDDoesNotExist
CPM_NodeIdOverRange
CPM_Timeout
PISO-CAN Series CANopen master library user manual (ver. 1.01, Feb/16/2009) ------42
3.5.11 CPM_NMTGuarding
z
Description:
Use the function CMP_NMTGuarding to set Guard Time and Life
Time Factor of the specific slave with node-ID bNodeID. Then, the
master will send the Guarding message to slave device automatically. If
the master or slave device doesn’t receive the Guarding message in the
Node Life time (Node Life time = dwGuardTime * bLifeTimeFactor), both
the master and slave will be triggered to send the EMCY message.
z
Syntax:
WORD CPM_NMTGuarding(CANChannelStruct *Handle,
BYTE bNodeID,
WORD wGuardTime,
BYTE bLifeTimeFactor,
DWORD dwSendGuardTime)
z
Parameter:
*Handle: [input] CAN channel handle pointer returned from the function
CPM_InitPort.
BNodeID: [input] Slave device Node-ID (1~127).
WGuardTime: [input] Guard Time (1 ~ 65535).
BLifeTimeFactor: [input] Life Time Factor (1 ~ 255).
DwSendGuardTime: [input] The Guard message send from master.
z
Return:
CPM_NoError
CPM_BoardNumberError
CPM_PortNumberError
CPM_ActiveBoardError
CAN_ConfigError
CAN_TransmitBufferLocked
CAN_TransmitIncomplete
CPM_MasterInitErr
CPM_NodeIDDoesNotExist
PISO-CAN Series CANopen master library user manual (ver. 1.01, Feb/16/2009) ------43
CPM_NodeIdOverRange
CPM_CreateThreadErr
CPM_SlaveStateErr
CPM_Timeout
PISO-CAN Series CANopen master library user manual (ver. 1.01, Feb/16/2009) ------44
3.5.12 CPM_SDOReadData
z
Description:
Before calling the function CPM_SDOReadDat, the function
CPM_InitMaster is needed. The function CPM_SDOReadData is useful
to the SDO upload from a specific slave. When users use this function,
pass the salve device node-id, bNodeID, and upload mode into this
function. When calling this function, the pre-define SDO communication
object ID will be used to send out a SDO message.
The upload mode parameter bBlock of the function
CPM_SDOReadData has two different kind of value. There are shown
below.
z
1、
bBlock = 0: If the total data size does not exceed 4 bytes. The
function CPM_SDOReadData will return the value
CPM_Noerror. Then, the SDO transmission is
finished. If the data size does exceed 4 bytes, it
will return the value CPM_ReadSegment. In this
case, users need to use the function
CPM_SDOReadSegment to continue the SDO
transmission.
2、
bBlock = 1: This function will return the value CPM_ReadBlock,
and the SDO Block upload protocol is used.
Therefore, users need to call the function
CPM_SDOReadBlock to continue the SDO
transmission.
Syntax:
WORD CPM_SDOReadData(CANChannelStruct *Handle,
BYTE bNodeID, WORD wIndex,
BYTE bSubIndex, PacketStruct *pRData,
DWORD *Rsize, BYTE bBlock)
z
Parameter:
PISO-CAN Series CANopen master library user manual (ver. 1.01, Feb/16/2009) ------45
*Handle: [input] CAN channel handle pointer returned from the function
CPM_InitPort.
BNodeID: [input] Slave device Node-ID (1~127).
WIndex: [input] SDO index in the object dictionary.
BSubIndex: [input] SDO subindex in the object dictionary.
*pRData: [output] SDO data respond from the specific slave device.
*Rsize: [output] Total data size.
bBlock: [input] Using SDO Block protocol.
z
Return:
CPM_NoError
CPM_BoardNumberError
CPM_PortNumberError
CPM_ActiveBoardError
CAN_ConfigError
CAN_TransmitBufferLocked
CAN_TransmitIncomplete
CPM_MasterInitErr
CPM_NodeIDDoesNotExist
CPM_NodeIdOverRange
CPM_SlaveStateErr
CPM_ReadSegment
CPM_ReadBlock
CPM_Timeout
PISO-CAN Series CANopen master library user manual (ver. 1.01, Feb/16/2009) ------46
3.5.13 CPM_SDOReadSegment
z
Description:
The method is called when the value CPM_ReadSegment is returned
from the functions CPM_SDOReadData or CPM_SDOReadSegment. If
SDO data size is more than 7 bytes, the CPM_SDOReadData or
CPM_SDOReadSegment function will also return the value
CPM_ReadSegment.
z
Syntax:
WORD CPM_SDOReadSegment(CANChannelStruct *Handle,
BYTE bNodeID,
PacketStruct *pRData)
z
Parameter:
*Handle: [input] CAN channel handle pointer returned from the function
CPM_InitPort.
BNodeID: [input] Slave device Node-ID (1~127).
*pRData: [output] Segment data uploaded from the slave device.
z
Return:
CPM_NoError
CPM_BoardNumberError
CPM_PortNumberError
CPM_ActiveBoardError
CAN_ConfigError
CAN_TransmitBufferLocked
CAN_TransmitIncomplete
CPM_MasterInitErr
CPM_NodeIDDoesNotExist
CPM_NodeIdOverRange
CPM_SlaveStateErr
CPM_ReadSegment
CPM_Timeout
PISO-CAN Series CANopen master library user manual (ver. 1.01, Feb/16/2009) ------47
3.5.14 CPM_SDOReadBlock
z
Description:
When the parameter bBlock of the function CPM_SDOReadData is 1,
the function CPM_SDOReadData will return the value CPM_ReadBlock.
However, if users send or receive the SDO message whose data size is
more then 127 segments (127 * 7 bytes), the function
CPM_SDOReadBlock also returns the value CPM_ReadBlock. In these
two cases, the function CPM_SDOReadBlock is needed.
z
Syntax:
WORD CPM_SDOReadBlock(CANChannelStruct *Handle,
BYTE bNodeID, BYTE *pRData)
z
Parameter:
*Handle: [input] CAN channel handle pointer returned from the function
CPM_InitPort.
BNodeID: [input] Slave device Node-ID (1~127).
*pRData: [output] At most 127 * 7 bytes of block data to be uploaded.
z
Return:
CPM_NoError
CPM_BoardNumberError
CPM_PortNumberError
CPM_ActiveBoardError
CAN_ConfigError
CAN_TransmitBufferLocked
CAN_TransmitIncomplete
CPM_MasterInitErr
CPM_NodeIDDoesNotExist
CPM_NodeIdOverRange
CPM_SlaveStateErr
CPM_ReadBlock
CPM_ReadDataError
CPM_Timeout
PISO-CAN Series CANopen master library user manual (ver. 1.01, Feb/16/2009) ------48
3.5.15 CPM_SDOWriteData
z
Description:
The function CPM_SDOWriteData can send out a SDO message to
specific salve device. This procedure is also called download SDO
message. The parameter bNodeID of the function CPM_SDOWriteData
is used to point which slave device will receive this SDO message.
Because the data length of each object dictionary’s object is different,
users need to use different kind of SDO protocol when reading the
object dictionary’s object. The function CPM_SDOWriteData has two
kinds of SDO download mode. The SDO download mode is decided by
the parameter bBlock, and these two modes are shown below:
1、bBlock = 0: If the total data size of the object dictionary’s object
does not exceed 4 bytes. The function
CPM_SDOWriteData
will
return
the
value
CPM_Noerror. Otherwise, it will return the value
CPM_WriteSegment.
2、bBlock = 1: The SDO Block download protocol is used and the
function CPM_SDOWriteData returns the value
CPM_WriteBlock.
Calling CPM_SDOWriteData requires a master (CPM_InitMaster).
z
Syntax:
WORD CPM_SDOWriteData(CANChannelStruct *Handle,
BYTE bNodeID, WORD wIndex,
BYTE bSubIndex, DWORD dwDataSize,
PacketStruct *pRData, BYTE *bpData,
BYTE bBlock)
z
Parameter:
*Handle: [input] CAN channel handle pointer returned from the function
CPM_InitPort.
bNodeID: [input] Slave device Node-ID (1~127).
wIndex: [input] The index value of the object dictionary’s object.
bSubIndex: [input] The subindex value of the object dictionary’s object.
PISO-CAN Series CANopen master library user manual (ver. 1.01, Feb/16/2009) ------49
dwDataSize: [input] Total data size to be written.
*pRData: [output] SDO data respond from the specific slave device.
*bpData: [input] The SDO Data which will be downloaded. (This
parameter is useless when the parameter dwDataSize
is over than 4 or the parameter bBlock is set to1).
bBlock: [input] SDO download mode.
z
Return:
CPM_NoError
CPM_BoardNumberError
CPM_PortNumberError
CPM_ActiveBoardError
CAN_ConfigError
CAN_TransmitBufferLocked
CAN_TransmitIncomplete
CPM_MasterInitErr
CPM_NodeIDDoesNotExist
CPM_NodeIdOverRange
CPM_SlaveStateErr
CPM_WriteSegment
CPM_WriteBlock
CPM_DataSizeRangeErr
CPM_Timeout
PISO-CAN Series CANopen master library user manual (ver. 1.01, Feb/16/2009) ------50
3.5.16 CPM_SDOWriteSegment
z
Description:
When the function CPM_SDOWriteData returns the value
CPM_WriteSegment, the function CPM_SDOWriteSegment must be
called to continue the SDO segment download protocol. Afterwards, if
the function CPM_SDOWriteSegment still returns the value
CPM_WriteSegment, the function CPM_SDOWriteSegment must be
used again.
z
Syntax:
WORD CPM_SDOWriteSegment(CANChannelStruct *Handle,
BYTE bNodeID,
PacketStruct *pRData,
BYTE *bpData)
z
Parameter:
*Handle: [input] CAN channel handle pointer returned from the function
CPM_InitPort.
bNodeID: [input] Slave device Node-ID (1~127).
*pRData: [output] SDO segment data responded from the slave device.
*bpData: [input] The SDO Data which will be downloaded. The SDO
data length can’t exceed one segment.
z
Return:
CPM_NoError
CPM_BoardNumberError
CPM_PortNumberError
CPM_ActiveBoardError
CAN_ConfigError
CAN_TransmitBufferLocked
CAN_TransmitIncomplete
CPM_MasterInitErr
CPM_NodeIDDoesNotExist
CPM_NodeIdOverRange
PISO-CAN Series CANopen master library user manual (ver. 1.01, Feb/16/2009) ------51
CPM_WriteSegment
CPM_SlaveStateErr
CPM_Timeout
PISO-CAN Series CANopen master library user manual (ver. 1.01, Feb/16/2009) ------52
3.5.17 CPM_SDOWriteBlock
z
Description:
When the parameter bBlock of the function CPM_SDOWriteData is
set to 1, the function CPM_SDOWriteData will return the value
CPM_WriteBlock, and the function CPM_SDOWriteBlock must be used
to continue the SDO block download protocol. If the data length of
download SDO data is more then one block size defined by the function
CMP_SDOWriteData, this function must be called again.
z
Syntax:
WORD CPM_SDOWriteBlock(CANChannelStruct *Handle,
BYTE bNodeID, BYTE *pAckseq,
BYTE *bpData)
z
Parameter:
*Handle: [input] CAN channel handle pointer returned from the function
CPM_InitPort.
bNodeID: [input] Slave device Node-ID (1~127).
*pAckseq: [output] Last segment sequence number that was received
successfully during the last block download.
*bpData: [input] The SDO Data which will be downloaded. The SDO
data length can’t exceed one block.
z
Return:
CPM_NoError
CPM_BoardNumberError
CPM_PortNumberError
CPM_ActiveBoardError
CAN_ConfigError
CAN_TransmitBufferLocked
CAN_TransmitIncomplete
CPM_MasterInitErr
CPM_NodeIDDoesNotExist
CPM_NodeIdOverRange
PISO-CAN Series CANopen master library user manual (ver. 1.01, Feb/16/2009) ------53
CPM_SlaveStateErr
CPM_WriteBlock
CPM_WriteDataError
CPM_DataSizeRangeErr
CPM_Timeout
PISO-CAN Series CANopen master library user manual (ver. 1.01, Feb/16/2009) ------54
3.5.18 CPM_SDOAbortTransmission
z
Description:
Call the function CMP_SDOAbortTransmission to cancel the SDO
transmission. The parameter bNodeID is used to specify which SDO
communication will be terminated between the master and the specific
salve device. The function will not give any acknowledge to the master.
z
Syntax:
WORD CPM_SDOAbortTransmission(CANChannelStruct *Handle,
BYTE bNodeID)
z
Parameter:
*Handle: [input] CAN channel handle pointer returned from the function
CPM_InitPort.
bNodeID: [input] Slave device Node-ID (1~127).
z
Return:
CPM_NoError
CPM_BoardNumberError
CPM_PortNumberError
CPM_ActiveBoardError
CAN_ConfigError
CAN_TransmitBufferLocked
CAN_TransmitIncomplete
CPM_MasterInitErr
CPM_NodeIDDoesNotExist
CPM_NodeIdOverRange
CPM_SlaveStateErr
PISO-CAN Series CANopen master library user manual (ver. 1.01, Feb/16/2009) ------55
3.5.19 CPM_InstallPDO
z
Description:
After CPM_PDOMapping function, call the function CPM_InstallPDO
to install a PDO object in the CANopen Master Library stack. If the slave
device has defined the default PDO object, it will be installed when the
function CPM_AddNode is called.
z
Syntax:
WORD CPM_InstallPDO(CANChannelStruct *Handle, BYTE bNodeID,
BYTE TxRxType, DWORD dwCobId,
BYTE bTransmitType, WORD wInhibitime,
WORD wEventTimer, BYTE bEnableChannel)
z
Parameter:
*Handle: [input] CAN channel handle pointer returned from the function
CPM_InitPort.
bNodeID: [input] Salve device Node-ID (1~127).
TxRxType: [input] PDO type (0: for receive PDO, 1: for transmit PDO).
dwCobId: [input] COB-ID used by the PDO object.
bTransmitType: [input] PDO transmission type (0 ~ 255).
wInhibitime: [input] PDO inhibit time (0 ~ 65535 ms)(not used for
RPDO).
wEventTimer: [input] PDO event timer ( 0 ~ 65535 ms).
bEnableChannel: [input] Number of mapped application objects in
PDO (0 ~ 8).
z
Return:
CPM_NoError
CPM_BoardNumberError
CPM_PortNumberError
CPM_ActiveBoardError
CAN_ConfigError
CAN_TransmitBufferLocked
CAN_TransmitIncomplete
PISO-CAN Series CANopen master library user manual (ver. 1.01, Feb/16/2009) ------56
CPM_MasterInitErr
CPM_NodeIDDoesNotExist
CPM_NodeIdOverRange
CPM_AllPDOareUsing
CPM_PDOInstallErr
CPM_CobIdNotRxPDO
CPM_CobIdNotTxPDO
CPM_MappingEnableErr
CPM_SlaveStateErr
CPM_Timeout
PISO-CAN Series CANopen master library user manual (ver. 1.01, Feb/16/2009) ------57
3.5.20 CPM_MappingPDO
z
Description:
This function can set the PDO mapping objects. If users use this
function to define the PDO mapping object with the PDO COB-ID that is
not installed by using the function CPM_InstallPDO, this PDO mapping
object will be useless.
z
Syntax:
WORD CPM_MappingPDO(CANChannelStruct *Handle,
BYTE bNodeID, BYTE TxRxType,
DWORD dwCobId, BYTE bChannel,
BYTE *MappingData)
z
Parameter:
*Handle: [input] CAN channel handle pointer returned from the function
CPM_InitPort.
bNodeID: [input] Slave device Node-ID (1~127).
TxRxType: [input] Receive or Transmit PDO parameter (0: Rx, 1: Tx).
dwCobId: [input] COB-ID used by the PDO object.
bChannel: [input] PDO mapping for the nth application object to be
mapped (at most is 8).
*MappingData: [input] 4 bytes data of mapped.
z
Return:
CPM_NoError
CPM_BoardNumberError
CPM_PortNumberError
CPM_ActiveBoardError
CAN_ConfigError
CAN_TransmitBufferLocked
CAN_TransmitIncomplete
CPM_MasterInitErr
CPM_NodeIDDoesExist
CPM_NodeIdOverRange
PISO-CAN Series CANopen master library user manual (ver. 1.01, Feb/16/2009) ------58
CPM_AllPDOareUsing
CPM_PDOSetError
CPM_SlaveStateErr
CPM_Timeout
PISO-CAN Series CANopen master library user manual (ver. 1.01, Feb/16/2009) ------59
3.5.21 CPM_RemovePDO
z
Description:
The function CPM_RemovePDO can remove a TxPDO or RxPDO
installed by the CPM_InstallPDO.
z
Syntax:
WORD CPM_RemovePDO(CANChannelStruct *Handle,
BYTE bNodeID, DWORD dwCobId)
z
Parameter:
*Handle: [input] CAN channel handle pointer returned from the function
CPM_InitPort.
bNodeID: [input] Slave device Node-ID (1~127).
dwCobId: [input] COB-ID used by the PDO object.
z
Return:
CPM_NoError
CPM_BoardNumberError
CPM_PortNumberError
CPM_ActiveBoardError
CAN_ConfigError
CAN_TransmitBufferLocked
CAN_TransmitIncomplete
CPM_MasterInitErr
CPM_NodeIDDoesExist
CPM_NodeIdOverRange
CPM_PDOSetError
CPM_PDORemoveErr
CPM_PDODoesNotExist
CPM_SlaveStateErr
CPM_Timeout
PISO-CAN Series CANopen master library user manual (ver. 1.01, Feb/16/2009) ------60
3.5.22 CPM_WritePDO
z
Description:
Call the function CPM_WritePDO to send out a PDO message to the
specific salve device. Before using this function, users need to use the
function CPM_InstallPDO to install the PDO object, and change the target
slave device NMT state to the operational by using the function
CPM_ChangeState. If users just want to change some part of the PDO data
sent before, use the parameter bOffset to set the data byte position which
need to be modify, and use the parameters *Data and bDataLen to point the
data and data length which users want to modify.
z
Syntax:
WORD CPM_WritePDO(CANChannelStruct *Handle,
DWORD dwCobId, BYTE *Data,
BYTE bOffset, BYTE bDataLen)
z
Parameter:
*Handle: [input] CAN channel handle pointer returned from the function
CPM_InitPort.
dwCobId: [input] COB-ID used by the PDO object.
*Data: [input] Data pointer to point the PDO data.
bOffset: [input] The first PDO data byte position(0 ~ 7).
bDataLen: [input] data size of PDO Data (bDataLen + bOffset ≦ 8).
z
Return:
CPM_NoError
CPM_BoardNumberError
CPM_PortNumberError
CPM_ActiveBoardError
CAN_ConfigError
CAN_TransmitBufferLocked
CAN_TransmitIncomplete
CPM_MasterInitErr
CPM_PDODoesNotExist
PISO-CAN Series CANopen master library user manual (ver. 1.01, Feb/16/2009) ------61
3.5.23 CPM_RemotePDO
z
Description:
Use the function CPM_RemotePDO to send a remote request PDO
message to the slave device.
z
Syntax:
WORD CPM_RemotePDO(CANChannelStruct *Handle,
DWORD dwCobId, PacketStruct *pRData)
z
Parameter:
*Handle: [input] CAN channel handle pointer returned from the function
CPM_InitPort.
dwCobId: [input] COB-ID used by the PDO object.
*pRData: [output] The PDO message received from the remote salve
device.
z
Return:
CPM_NoError
CPM_BoardNumberError
CPM_PortNumberError
CPM_ActiveBoardError
CAN_ConfigError
CAN_TransmitBufferLocked
CAN_TransmitIncomplete
CPM_MasterInitErr
CPM_PDODoesNotExist
CPM_Timeout
PISO-CAN Series CANopen master library user manual (ver. 1.01, Feb/16/2009) ------62
3.5.24 CPM_ResponsePDO
z
Description:
When users set the salve device to some PDO transmission type, the
slave will return the PDO message automatically if some event is
triggered or the event timer is time up. Call the function
CPM_ResponsePDO to read the PDO message which is received from
the slave device and stored in the PDO software buffer. The buffer size
of the PDO software buffer is 10 records. If the received PDO messages
exceed 10 records without reading by the function CPM_ResponsePDO,
the oldest PDO message will be covered by the newest one. These
received PDO messages include the PDO messages produced by
Event Driven, Timer Driven, Remotely requested.
z
Syntax:
WORD CPM_ResponsePDO(CANChannelStruct *Handle,
PacketStruct *pRData)
z
Parameter:
*Handle: [input] CAN channel handle pointer returned from the function
CPM_InitPort.
*pRData: [output] The PDO data responded from the slave device.
z
Return:
CPM_NoError
CPM_ActiveBoardError
CPM_NoResponse
PISO-CAN Series CANopen master library user manual (ver. 1.01, Feb/16/2009) ------63
3.5.25 CPM_ ResPDOCount
z
Description:
To get the message count of PDO message from PDO buffer.
z
Syntax:
WORD CPM_ResponsePDO(CANChannelStruct *Handle)
z
Parameter:
*Handle: [input] CAN channel handle pointer returned from the function
CPM_InitPort.
z
Return:
The un-read PDO message count
PISO-CAN Series CANopen master library user manual (ver. 1.01, Feb/16/2009) ------64
3.5.26 CPM_SendSYNC
z
Description:
Use the function CMP_SendSYNC to send a SYNC message with
specific COB-ID cyclically. If the parameter dwSyncCycle is 0, the
SYNC message will be stopped.
z
Syntax:
WORD CPM_SendSYNC(CANChannelStruct *Handle,
DWORD dwCobid, DWORD dwSyncCycle)
z
Parameter:
*Handle: [input] CAN channel handle pointer returned from the function
CPM_InitPort.
dwCobId: [input] COB-ID used by the SYNC object.
dwSyncCycle: [input] SYNC message transmission period.
z
Return:
CPM_NoError
CPM_ActiveBoardError
CPM_MasterInitErr
CPM_CreateThreadErr
PISO-CAN Series CANopen master library user manual (ver. 1.01, Feb/16/2009) ------65
3.5.27 CPM_ReadEMCY
z
Description:
When the salve detects an internal error, it will send an emergency
message. The master library will receive this emergency message and
store it in the software buffer. The function CPM_ReadEMCY can return
the emergency message stored in the buffer.
z
Syntax:
WORD CPM_ReadEMCY(CANChannelStruct *Handle,
PacketStruct *pRData)
z
Parameter:
*Handle: [input] CAN channel handle pointer returned from the function
CPM_InitPort.
*pRData: [output] Emergency message data stored in the buffer.
z
Return:
CPM_NoError
CPM_ActiveBoardError
CPM_MasterInitErr
CPM_EMCYFIFOisEmpty
PISO-CAN Series CANopen master library user manual (ver. 1.01, Feb/16/2009) ------66
3.5.28 CPM_WriteDO
z
Description:
Use this function to output index 0x6200 with SDO protocol.
z
Syntax:
WORD CPM_ReadEMCY(CANChannelStruct *Handle, BYTE bNodeID
, BYTE channel, BYTE value)
z
Parameter:
*Handle: [input] CAN channel handle pointer returned from the function
CPM_InitPort.
bNodeID: [input] Slave device Node-ID (1~127)..
channel: [input] Output DO channel. The parameter is from 1.
value: [input] Output data.
z
Return:
CPM_NoError
CPM_BoardNumberError
CPM_PortNumberError
CPM_ActiveBoardError
CAN_ConfigError
CAN_TransmitBufferLocked
CAN_TransmitIncomplete
CPM_MasterInitErr
CPM_NodeIDDoesNotExist
CPM_NodeIdOverRange
CPM_SlaveStateErr
CPM_Timeout
PISO-CAN Series CANopen master library user manual (ver. 1.01, Feb/16/2009) ------67
3.5.29 CPM_WriteAO
z
Description:
Use this function to output index 0x6411 with SDO protocol.
z
Syntax:
WORD CPM_ReadEMCY(CANChannelStruct *Handle, BYTE bNodeID
, BYTE channel, WORD value)
z
Parameter:
*Handle: [input] CAN channel handle pointer returned from the function
CPM_InitPort.
bNodeID: [input] Slave device Node-ID (1~127)..
channel: [input] Output AO channel. The parameter is from 1.
value: [input] Output data.
z
Return:
CPM_NoError
CPM_BoardNumberError
CPM_PortNumberError
CPM_ActiveBoardError
CAN_ConfigError
CAN_TransmitBufferLocked
CAN_TransmitIncomplete
CPM_MasterInitErr
CPM_NodeIDDoesNotExist
CPM_NodeIdOverRange
CPM_SlaveStateErr
CPM_Timeout
PISO-CAN Series CANopen master library user manual (ver. 1.01, Feb/16/2009) ------68
3.5.30 CPM_ReadDI
z
Description:
Use this function to read index 0x6000 with SDO protocol.
z
Syntax:
WORD CPM_ReadEMCY(CANChannelStruct *Handle, BYTE bNodeID
, BYTE channel, BYTE *value)
z
Parameter:
*Handle: [input] CAN channel handle pointer returned from the function
CPM_InitPort.
bNodeID: [input] Slave device Node-ID (1~127)..
channel: [input] Read DI channel. The parameter is from 1.
*value: [input] Input data.
z
Return:
CPM_NoError
CPM_BoardNumberError
CPM_PortNumberError
CPM_ActiveBoardError
CAN_ConfigError
CAN_TransmitBufferLocked
CAN_TransmitIncomplete
CPM_MasterInitErr
CPM_NodeIDDoesNotExist
CPM_NodeIdOverRange
CPM_SlaveStateErr
CPM_Timeout
PISO-CAN Series CANopen master library user manual (ver. 1.01, Feb/16/2009) ------69
3.5.31 CPM_ReadAI
z
Description:
Use this function to read index 0x6401 with SDO protocol.
z
Syntax:
WORD CPM_ReadEMCY(CANChannelStruct *Handle, BYTE bNodeID
, BYTE channel, WORD *value)
z
Parameter:
*Handle: [input] CAN channel handle pointer returned from the function
CPM_InitPort.
bNodeID: [input] Slave device Node-ID (1~127)..
channel: [input] Read AI channel. The parameter is from 1.
*value: [input] Input data.
z
Return:
CPM_NoError
CPM_BoardNumberError
CPM_PortNumberError
CPM_ActiveBoardError
CAN_ConfigError
CAN_TransmitBufferLocked
CAN_TransmitIncomplete
CPM_MasterInitErr
CPM_NodeIDDoesNotExist
CPM_NodeIdOverRange
CPM_SlaveStateErr
CPM_Timeout
PISO-CAN Series CANopen master library user manual (ver. 1.01, Feb/16/2009) ------70
4 Demo Programs for Windows
After installing the CANopen Master Library correctly, users can see the
demo programs on the folder DAQPro\PISO-CAN\CANopen\Demo. We
provide the demos developed by three kinds of program development tools.
These tools are BCB, VC++ and VB. When users open the Demo folder, the
file architecture is shown as follows.
|--\Demo 
|--\BCB_Demo
→
demo program
→ for Borland C++ Builder 3
|
|--\VB_Demo
→ for Visual Basic 6
|
|--\VC_Demo
→ for Visual C++ 6
If users want to develop their own CANopen master programs by BCB,
VC++ or VB, some library files are needed. The library files for the different
program development tools locate in the different folder. They are shown
below.
|--\Driver 
|--\PISOCANCPM.dll
→
|
|--\Library 
→
|--\BCB

| |--\CPM.h
| |--\BCBPISOCANCPM.lib
CANopen driver
→ CANopen dynamic link library
CANopen library
→ for Borland C++ Builder 3
→ CANopen header file
→ CANopen static library
|
|--\VB
| |--\CPM.bas
→
→
for Visual Basic 6
CANopen declaration file
|
|--\VC
| |--\CPM.h
| |--\PISOCANCPM.lib
→
→
→
for Visual C++ 6
CANopen header file
CANopen static library
PISO-CAN Series CANopen master library user manual (ver. 1.01, Feb/16/2009) ------71
A brief of the demo programs
These demo programs are developed for demonstrating how to use the
CANopen Master Library to apply the general CANopen communication
protocol. These demo programs. These demos provide the SDO, PDO, NMT
communication applications. Each communication protocol is achieved by
using different functions of CANopen Master Library. The relationship between
CANopen Master Library functions and CANopen communication protocols
are display in the following description.
NMT Services: CPM_NMTChangeState, CPM_NMTGuarding
SDO Services: CPM_SDOReadData, CPM_SDOReadSegment,
CPM_SDOWriteData, CPM_SDOWriteSegment
PDO Services: CPM_InstallPDO, CPM_MappingPDO,
CPM_RemovePDO, CPM_WritePDO,
CPM_RemotePDO, CPM_ResponsePDO
PISO-CAN Series CANopen master library user manual (ver. 1.01, Feb/16/2009) ------72
4.1 Brief Introduction of the demo programs
This section displays the demo program contour and the operation
procedure for the demo programs. Because the BCB demo is similar with the
VB demo, only the VB demo and VC++ demo will be introduced.
BCB and VB Demo:
When the demo starts to run, the demo user interface is shown below.
PISO-CAN Series CANopen master library user manual (ver. 1.01, Feb/16/2009) ------73
When the ActiveBoard button is clicked, the word of ActiveBoard will be
changed into the bold word.
When the CloseBoard button is clicked, the word of CloseBoard will be
changed into the bold word, and the word of ActiveBoard will become regular
one.
After click ActiveBoard button to activate the CAN card, select one CAN
port which users want to initialize. Then, click the “Init Master” button.
If master initialization is successful, the word of “Init Master” will be
changed into the word of Shutdown. Then, the “Node ID” combo box and “Add
Node” button will enable. Click Shutdown button will execute the function
CPM_ShutdownMaster, and stop all the function of the CANopen master. At
the same time, the word of Shutdown will return to the word of “Init Master”.
PISO-CAN Series CANopen master library user manual (ver. 1.01, Feb/16/2009) ------74
Select CANopen slave node id in the “Node ID” combo box, and click “Add
Node” button, then the word of “Add Node” will be changed into the word of
Remove. Click Remove button will remove the node selected previously. If
users change the Node ID in the combo box, the demo will check if this node
has been added before. If yes, the button with “Remove” word is shown. If the
Node ID is new one, the button with “Add Node” words will be indicated.
After adding the slave into slave node, the state of the slave will be shown
with bold word on the state button in the NMT State frame. If users want to
change the state, please click the button which you want in the NMT State
frame.
If users want to use the Node Guarding Protocol, input guard time and
guard cycle. Then, click “Start Guard” button to apply the Node Guarding
Protocol. The unit of guard time and guard cycle is million second.
PISO-CAN Series CANopen master library user manual (ver. 1.01, Feb/16/2009) ------75
The SDO Communication frame includes the two parts. They are SDO
Write Data and SDO Read Data. The SDO Write Data frame can write data to
the salve node by SDO protocol. For example input 6200 for Index, 1 for
sub-Index, 33 for written Data, and click “Write Data” button, then the value
0x33 will be written to the object with index 6200 and sub-index 1 of the slave
node. Afterwards, the salve node response data will be shown on the
“Response Data” text box.
SDO Read Data frame can read data from CANopen slave node by SDO
protocol. For example input 1008 for Index, 0 for sub-Index, and click the
“Read Data” button to send data to salve node. Then, the slave response data
will be shown on the “Read Data” text box.
PISO-CAN Series CANopen master library user manual (ver. 1.01, Feb/16/2009) ------76
PDO Parameters Setting frame includes the functions CPM_MappingPDO,
CPM_InstallPDO, and CPM_RemovePDO. Input COB ID, Rx/Tx type,
sub-Index value, and mapping data. Then, click PDO Mapping button to set
the PDO mapping parameters. Afterwards, click “Install PDO” button will
execute the function CPM_InstallPDO with the value set in the COB ID text,
Rx/Tx combo box, and sub-Index text. Click “Remove PDO” button will execute
the function CPM_RemovePDO to remove the PDO object with the ID set in
the COB ID text.
The PDO Communication frame includes the functions for PDO
communication. Input COB ID 211 and data AA, then click “Write Data” button.
It will write the data to the slave by PDO protocol. The response data will show
in the “Response” text box if some data are responded from the slave device.
“Get RTR” button can get remote data from the slave if the COB ID is set to
support the remote request transmit mode.
PISO-CAN Series CANopen master library user manual (ver. 1.01, Feb/16/2009) ------77
VC Demo:
When the demo starts to run, the demo user interface is shown below.
When the ActiveBoard button is clicked, the “OK” word will be shown on
the right hand side of the button. If click CloseBoard button, the program will
exit.
Select one CAN port and click “Initialize Master” button. If master
initialization is successful, the word “OK” will be displayed on the right hand
side of the button.
PISO-CAN Series CANopen master library user manual (ver. 1.01, Feb/16/2009) ------78
Select node id and click “Add Node” button. The word “OK” will also be
shown on the side of the “Add Node” button.
After adding a CANopen slave, the slave NMT state will be shown by the
word “OK” on the right hand side of the state button. If users want to change
the state, select and click the state button, which will be set to the node.
There are five communication
Communication combo box.
modes
to
be
selected
in
PISO-CAN Series CANopen master library user manual (ver. 1.01, Feb/16/2009) ------79
the
Here, only the SDO Read mode is taken for an example. If users select
the SDO Read mode, the word Index and Sub-Index will be shown in the block.
In this case, the Communication frame can help for reading data from slave
node by SDO protocol.
Input the value for index and sub-index, and click “Run” button to execute
the function CPM_SDOReadData. The response data will be displayed in the
“Response Data” text box.
PISO-CAN Series CANopen master library user manual (ver. 1.01, Feb/16/2009) ------80